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Hide this tf conversion. (odom file)

  # Create the odometry transform frame broadcaster.
       self.odomBroadcaster.sendTransform(
           (self.x, self.y, 0),
           (quaternion.x, quaternion.y, quaternion.z, quaternion.w),
           rospy.Time.now(),
           self.base_frame,
           "odom"
           )

Added new odom covariance. (odom file)

   if vxy!=0 and vth!=0:
       odom.pose.covariance = ODOM_POSE_COVARIANCE
       odom.twist.covariance = ODOM_TWIST_COVARIANCE
   else:
       odom.pose.covariance = ODOM_POSE_COVARIANCE2
       odom.twist.covariance = ODOM_TWIST_COVARIANCE2

Reference covariance. (odom file)

ODOM_POSE_COVARIANCE = [1e-3, 0, 0, 0, 0, 0, 
                        0, 1e-3, 0, 0, 0, 0,
                        0, 0, 1e6, 0, 0, 0,
                        0, 0, 0, 1e6, 0, 0,
                        0, 0, 0, 0, 1e6, 0,
                        0, 0, 0, 0, 0, 1e3]
ODOM_POSE_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0, 
                         0, 1e-3, 1e-9, 0, 0, 0,
                         0, 0, 1e6, 0, 0, 0,
                         0, 0, 0, 1e6, 0, 0,
                         0, 0, 0, 0, 1e6, 0,
                         0, 0, 0, 0, 0, 1e-9]

ODOM_TWIST_COVARIANCE = [1e-3, 0, 0, 0, 0, 0, 
                         0, 1e-3, 0, 0, 0, 0,
                         0, 0, 1e6, 0, 0, 0,
                         0, 0, 0, 1e6, 0, 0,
                         0, 0, 0, 0, 1e6, 0,
                         0, 0, 0, 0, 0, 1e3]
ODOM_TWIST_COVARIANCE2 = [1e-9, 0, 0, 0, 0, 0, 
                          0, 1e-3, 1e-9, 0, 0, 0,
                          0, 0, 1e6, 0, 0, 0,
                          0, 0, 0, 1e6, 0, 0,
                          0, 0, 0, 0, 1e6, 0,
                          0, 0, 0, 0, 0, 1e-9]